+ '[' md '=' md ]
+ echo '--sample-offset -1'
+ '[' md '=' smd ]
+ /app/bin/sonicer --detection-method hessian-ridge --temporal-window 2 --sample-offset -1 /working/790d6ae1-02dd-48c5-b032-151d8cbf6320/processing/data/sonar_raw.track.cbor
2026-09-24 03:45:19 [INFO] Sonicer 0.0.3
2026-09-24 03:45:22 [INFO] Recording GUID: 790d6ae1-02dd-48c5-b032-151d8cbf6320
2026-09-24 03:45:22 [INFO] Prepared data will be output to /working/790d6ae1-02dd-48c5-b032-151d8cbf6320/processing/data
2026-09-24 03:45:22 [INFO] Digitizing sonar data...
2026-09-24 03:45:22 [INFO] Using sonar digitizer
2026-09-24 03:45:22 [INFO] Sensor speed of sound is 1500 m/s
2026-09-24 03:45:22 [INFO] Sensor range is 0.794640 m
2026-09-24 03:45:22 [INFO] Scaled speed of sound is 1494.488589 m/s
2026-09-24 03:45:22 [INFO] Scaled micrometres per sample is 2630.299931
2026-09-24 03:45:24 [INFO] Digitized sonar frames: 10% (215/2147)
2026-09-24 03:45:25 [INFO] Digitized sonar frames: 20% (430/2147)
2026-09-24 03:45:27 [INFO] Digitized sonar frames: 30% (645/2147)
2026-09-24 03:45:28 [INFO] Digitized sonar frames: 40% (859/2147)
2026-09-24 03:45:30 [INFO] Digitized sonar frames: 50% (1074/2147)
2026-09-24 03:45:31 [INFO] Digitized sonar frames: 60% (1289/2147)
2026-09-24 03:45:33 [INFO] Digitized sonar frames: 70% (1503/2147)
2026-09-24 03:45:34 [INFO] Digitized sonar frames: 80% (1718/2147)
2026-09-24 03:45:36 [INFO] Digitized sonar frames: 90% (1933/2147)
2026-09-24 03:45:37 [INFO] Digitized sonar frames: 100% (2147/2147)
2026-09-24 03:45:37 [INFO] Digitized 2147 snapshot scans
2026-09-24 03:45:37 [INFO] Applying sonar temporal consistency...
2026-09-24 03:45:39 [INFO] Sonar temporal displaced structures (window 2, pass 1): removed 37 structures, 786 points
2026-09-24 03:45:40 [INFO] Sonar temporal displaced structures (window 2, pass 2): removed 0 structures, 0 points
2026-09-24 03:45:41 [INFO] Temporal gap fill: 81% (1750/2147)
2026-09-24 03:45:41 [INFO] Sonar temporal gap fill (window 2): 404041 points, 24519 candidate beams, filled 20224
2026-09-24 03:45:42 [INFO] Sonar temporal radial outliers: removed 2539 of 424265 points
2026-09-24 03:45:42 [INFO] Sonar temporal segment pruning (window 3): removed 80 segments, 1261 points
2026-09-24 03:45:42 [INFO] Writing sonar track file...
2026-09-24 03:45:42 [INFO] Writing sonar PTD files...
2026-09-24 03:45:44 [INFO] Sonicer took 24.225247469s